Code for autonomous ground vehicle, Data Bus, 3rd place winner in 2012 Sparkfun AVC.
Dependencies: Watchdog mbed Schedule SimpleFilter LSM303DLM PinDetect DebounceIn Servo
Diff: MAVlink/include/slugs/mavlink_msg_data_log.h
- Revision:
- 0:826c6171fc1b
diff -r 000000000000 -r 826c6171fc1b MAVlink/include/slugs/mavlink_msg_data_log.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MAVlink/include/slugs/mavlink_msg_data_log.h Wed Jun 20 14:57:48 2012 +0000 @@ -0,0 +1,216 @@ +// MESSAGE DATA_LOG PACKING + +#define MAVLINK_MSG_ID_DATA_LOG 177 + +typedef struct __mavlink_data_log_t +{ + float fl_1; ///< Log value 1 + float fl_2; ///< Log value 2 + float fl_3; ///< Log value 3 + float fl_4; ///< Log value 4 + float fl_5; ///< Log value 5 + float fl_6; ///< Log value 6 + +} mavlink_data_log_t; + + + +/** + * @brief Pack a data_log message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * + * @param fl_1 Log value 1 + * @param fl_2 Log value 2 + * @param fl_3 Log value 3 + * @param fl_4 Log value 4 + * @param fl_5 Log value 5 + * @param fl_6 Log value 6 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data_log_pack(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_DATA_LOG; + + i += put_float_by_index(fl_1, i, msg->payload); // Log value 1 + i += put_float_by_index(fl_2, i, msg->payload); // Log value 2 + i += put_float_by_index(fl_3, i, msg->payload); // Log value 3 + i += put_float_by_index(fl_4, i, msg->payload); // Log value 4 + i += put_float_by_index(fl_5, i, msg->payload); // Log value 5 + i += put_float_by_index(fl_6, i, msg->payload); // Log value 6 + + return mavlink_finalize_message(msg, system_id, component_id, i); +} + +/** + * @brief Pack a data_log message + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param chan The MAVLink channel this message was sent over + * @param msg The MAVLink message to compress the data into + * @param fl_1 Log value 1 + * @param fl_2 Log value 2 + * @param fl_3 Log value 3 + * @param fl_4 Log value 4 + * @param fl_5 Log value 5 + * @param fl_6 Log value 6 + * @return length of the message in bytes (excluding serial stream start sign) + */ +static inline uint16_t mavlink_msg_data_log_pack_chan(uint8_t system_id, uint8_t component_id, uint8_t chan, mavlink_message_t* msg, float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) +{ + uint16_t i = 0; + msg->msgid = MAVLINK_MSG_ID_DATA_LOG; + + i += put_float_by_index(fl_1, i, msg->payload); // Log value 1 + i += put_float_by_index(fl_2, i, msg->payload); // Log value 2 + i += put_float_by_index(fl_3, i, msg->payload); // Log value 3 + i += put_float_by_index(fl_4, i, msg->payload); // Log value 4 + i += put_float_by_index(fl_5, i, msg->payload); // Log value 5 + i += put_float_by_index(fl_6, i, msg->payload); // Log value 6 + + return mavlink_finalize_message_chan(msg, system_id, component_id, chan, i); +} + +/** + * @brief Encode a data_log struct into a message + * + * @param system_id ID of this system + * @param component_id ID of this component (e.g. 200 for IMU) + * @param msg The MAVLink message to compress the data into + * @param data_log C-struct to read the message contents from + */ +static inline uint16_t mavlink_msg_data_log_encode(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, const mavlink_data_log_t* data_log) +{ + return mavlink_msg_data_log_pack(system_id, component_id, msg, data_log->fl_1, data_log->fl_2, data_log->fl_3, data_log->fl_4, data_log->fl_5, data_log->fl_6); +} + +/** + * @brief Send a data_log message + * @param chan MAVLink channel to send the message + * + * @param fl_1 Log value 1 + * @param fl_2 Log value 2 + * @param fl_3 Log value 3 + * @param fl_4 Log value 4 + * @param fl_5 Log value 5 + * @param fl_6 Log value 6 + */ +#ifdef MAVLINK_USE_CONVENIENCE_FUNCTIONS + +static inline void mavlink_msg_data_log_send(mavlink_channel_t chan, float fl_1, float fl_2, float fl_3, float fl_4, float fl_5, float fl_6) +{ + mavlink_message_t msg; + mavlink_msg_data_log_pack_chan(mavlink_system.sysid, mavlink_system.compid, chan, &msg, fl_1, fl_2, fl_3, fl_4, fl_5, fl_6); + mavlink_send_uart(chan, &msg); +} + +#endif +// MESSAGE DATA_LOG UNPACKING + +/** + * @brief Get field fl_1 from data_log message + * + * @return Log value 1 + */ +static inline float mavlink_msg_data_log_get_fl_1(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload)[0]; + r.b[2] = (msg->payload)[1]; + r.b[1] = (msg->payload)[2]; + r.b[0] = (msg->payload)[3]; + return (float)r.f; +} + +/** + * @brief Get field fl_2 from data_log message + * + * @return Log value 2 + */ +static inline float mavlink_msg_data_log_get_fl_2(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field fl_3 from data_log message + * + * @return Log value 3 + */ +static inline float mavlink_msg_data_log_get_fl_3(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field fl_4 from data_log message + * + * @return Log value 4 + */ +static inline float mavlink_msg_data_log_get_fl_4(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field fl_5 from data_log message + * + * @return Log value 5 + */ +static inline float mavlink_msg_data_log_get_fl_5(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Get field fl_6 from data_log message + * + * @return Log value 6 + */ +static inline float mavlink_msg_data_log_get_fl_6(const mavlink_message_t* msg) +{ + generic_32bit r; + r.b[3] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[0]; + r.b[2] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[1]; + r.b[1] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[2]; + r.b[0] = (msg->payload+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float)+sizeof(float))[3]; + return (float)r.f; +} + +/** + * @brief Decode a data_log message into a struct + * + * @param msg The message to decode + * @param data_log C-struct to decode the message contents into + */ +static inline void mavlink_msg_data_log_decode(const mavlink_message_t* msg, mavlink_data_log_t* data_log) +{ + data_log->fl_1 = mavlink_msg_data_log_get_fl_1(msg); + data_log->fl_2 = mavlink_msg_data_log_get_fl_2(msg); + data_log->fl_3 = mavlink_msg_data_log_get_fl_3(msg); + data_log->fl_4 = mavlink_msg_data_log_get_fl_4(msg); + data_log->fl_5 = mavlink_msg_data_log_get_fl_5(msg); + data_log->fl_6 = mavlink_msg_data_log_get_fl_6(msg); +}